Hybrid controller for a nonholonomic system

B. Piccoli, F. M. Pait, A. Bittar

Research output: Contribution to specialist publicationArticle

5 Scopus citations


This note describes a logic-based hybrid controller for the well-studied nonholonomic integrator. Our controller provides Lyapunov stability and is designed so that the control signals remain uniformly bounded and have at most a finite number of discontinuities in any finite interval. In particular, no 'chattering' occurs. Two alternative controllers, which use only partial state information, are also presented.

Original languageEnglish (US)
Number of pages5
Specialist publicationControle and Automacao
StatePublished - May 1998
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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